//
// Created by ze on 2023/11/9.
//

#ifndef ENCODER_UPRE_PID_H
#define ENCODER_UPRE_PID_H

#include "UPRE_GLOBAL_DEFINE.h"


ChassisMovement getPidOutput(void);

void setPidTargetPose(Pose *targetPose, PidCalMode calMode);

void setPidCalMode(PidCalMode mode);

void pidInit(void);

void Manual_pidInit(void);

//void ctrlEntry(void);

//ChassisMovement getPidOutput(void);

#endif //ENCODER_UPRE_PID_H
